CN114827897B

CN114827897B - UWB-based positioning scheduling method, device, system and medium for multiple base stations and multiple labels

Info

Publication number: CN114827897B
Application number: CN202210712329.5A
Authority: CN
Inventors: 孙晓钢; 董宗宇
Original assignee: Hangzhou Youzhilian Technology Co ltd
Current assignee: Hangzhou Youzhilian Technology Co ltd
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-09-30
Anticipated expiration: 2042-06-22
Also published as: CN114827897A

Abstract

The embodiment of the invention discloses a method, a device, a system and a medium for positioning and scheduling multiple base stations and multiple labels based on UWB; the method comprises the following steps: scheduling time sequence information of a UWB ranging process is generated by utilizing the acquired UWB label equipment which establishes BLE connection per se and the information of the UWB label equipment which establishes BLE connection from each slave base station respectively in combination with system configuration parameters issued by a background server; based on the scheduling time sequence information, in the ith ranging cycle corresponding to the ith UWB Tag equipment (Tag-i), sending and/or receiving corresponding UWB messages to the Tag-i in the sending time slot and/or the receiving time slot corresponding to the ith UWB Tag equipment; according to UWB message interaction, calculating the distance information of the self aiming at Tag-i; receiving ranging information for Tag-i transmitted by slave base stations each over a BLE connection; and sending the ranging information of the slave base station aiming at the Tag-i and the ranging information of each slave base station aiming at the Tag-i to a background server in the last time slot of the ith ranging cycle corresponding to the Tag-i so as to complete the positioning of the Tag-i.

Description

UWB-based positioning scheduling method, device, system and medium for multiple base stations and multiple labels

Technical Field

The embodiment of the invention relates to the technical field of Ultra Wide Band (UWB) communication, in particular to a UWB-based multi-base-station multi-tag positioning and scheduling method, device, system and medium.

Background

In a conventional UWB ranging and positioning system, access technologies with relatively Low power consumption, such as Bluetooth (BT) and Bluetooth Low Energy (BLE), are generally used to replace UWB to perform some preparation work before a ranging procedure starts, such as networking and ranging parameter interaction, and the UWB only needs to perform the work, such as ranging message interaction, after the ranging procedure starts, so that the power consumption in the UWB ranging and positioning process can be reduced.

In the UWB ranging and positioning system as well, the time of flight can be obtained between the base station and the tag device through the timestamp information in the ranging message interaction process, and the distance between the tag device and the base station is calculated according to the time of flight, which can be referred to as a ranging process; however, if the absolute position of the tag device needs to be located, the tag device and at least three base stations are required to complete the ranging process, for example, three base stations are taken as an example, and after the relative distances between the tag device and the three base stations are obtained through the ranging process, the relative positions between the tag device and the three base stations are also obtained; since the absolute positions of the base stations are usually fixed, the relative positions of the tag device and the three base stations and the fixed absolute positions of the base stations can be calculated. Generally speaking, one of the three base stations will be connected to a background server in the system and receive the relative distances sent by the other two base stations; and then, the base station sends the two received relative distances and the relative distance obtained by the base station to a connected background server, and the background server calculates the absolute position of the label equipment by using the three received relative distances and the fixed absolute positions of the three base stations. The base station for data connection with the background server in the system is generally called a master base station, and the base stations except the master base station in the system are all called slave base stations.

In the conventional UWB Ranging positioning scheme, one of the conventional UWB Ranging positioning schemes is to use Ranging cycling Ranging Round as the minimum time domain scheduling granularity, and different Ranging cycling Ranging rounds are correspondingly allocated to the Ranging process of each tag and each base station, but the scheme is not high in time utilization rate, and when the number of tag devices is large, the Ranging efficiency is low; secondly, the Ranging time slots Slot is defined as the minimum scheduling granularity, and the base station can allocate corresponding slots for different types of messages, so that only one base station completes the Ranging process of all tags in one Ranging cycle Round, and for any tag device, if the Ranging result needs to be used for positioning, the tag device needs to pass through three Ranging cycles Round, so that the positioning information of the tag device is updated slowly, the timeliness requirement cannot be met, and the user experience is very unfriendly.

Disclosure of Invention

In view of this, embodiments of the present invention are intended to provide a method, an apparatus, a system, and a medium for positioning and scheduling multiple base stations and multiple tags based on UWB; the UWB tag equipment can be positioned in each ranging cycle, so that the time utilization rate and the ranging efficiency are improved; and the updating speed of the positioning information of the UWB label equipment is also improved, and the requirement of the timeliness of positioning is met.

The technical scheme of the embodiment of the invention is realized as follows:

in a first aspect, an embodiment of the present invention provides a method for positioning and scheduling multiple base stations and multiple tags, where the method is applied to a master base station, and the method includes:

scheduling time sequence information of a UWB ranging process is generated according to the acquired UWB (ultra wideband) tag equipment which establishes BLE connection per se through the Bluetooth low-power-consumption BLE connection and the UWB tag equipment information which establishes BLE connection from each base station respectively by combining system configuration parameters issued by a background server;

based on the scheduling time sequence information, in the ith ranging cycle corresponding to the ith UWB Tag equipment Tag-i, sending and/or receiving corresponding UWB messages to the Tag-i in the sending time slot and/or receiving time slot corresponding to the ith UWB Tag equipment;

calculating the distance information of the self aiming at the Tag-i according to the UWB message interaction;

receiving ranging information for Tag-i transmitted by slave base stations each over a BLE connection;

and sending the ranging information of the slave base station aiming at the Tag-i and the ranging information of each slave base station aiming at the Tag-i to a background server in the last time slot of the ith ranging cycle corresponding to the Tag-i so as to complete the positioning of the Tag-i.

In a second aspect, an embodiment of the present invention provides a positioning scheduling method for multiple base stations and multiple tags based on UWB, where the method is applied to a slave base station, and the method includes:

receiving system configuration parameters and synchronizing with the timing sequence of a main base station through BLE connection established between the main base station and the BLE;

the method comprises the steps that BLE connection is established with self-bound UWB tag equipment, and information of the UWB tag equipment which establishes BLE connection with the self-bound UWB tag equipment is sent to a main base station;

receiving scheduling time sequence information which is sent by a main base station and used for a UWB ranging process;

based on the scheduling time sequence information, in the ith ranging cycle corresponding to the ith UWB Tag device (Tag-i), sending and/or receiving corresponding UWB messages to the Tag-i at the sending time slot and/or receiving time slot corresponding to the ith UWB Tag device (Tag-i);

and calculating the distance information of the self aiming at the Tag-i and sending the distance information of the self aiming at the Tag-i to the main base station according to the UWB message interaction.

In a third aspect, an embodiment of the present invention provides a master base station apparatus, including: a first BLE connection portion, a first UWB interaction portion, a first calculation portion, and a transmission portion; wherein,

the first BLE connection part is configured to combine system configuration parameters issued by the background server, and scheduling timing information of a UWB ranging process is generated according to the acquired UWB (ultra wideband) tag equipment which establishes BLE connection per se through Bluetooth low-power-consumption BLE connection and the information of each UWB tag equipment which establishes BLE connection from the base station;

the first UWB interaction part is configured to transmit and/or receive corresponding UWB messages to the Tag-i at a transmission time slot and/or a receiving time slot corresponding to the first UWB Tag device Tag-i in an ith ranging cycle corresponding to the ith UWB Tag device Tag-i based on the scheduling timing information;

the calculation part is configured to calculate the distance information of the calculation part aiming at the Tag-i according to the UWB message interaction;

the first BLE connection portion further configured to receive ranging information for Tag-i transmitted by each of the slave base stations over a BLE connection;

the sending part is configured to send the ranging information of the slave base station aiming at the Tag-i and the ranging information of each slave base station aiming at the Tag-i to a background server in the last time slot of the ith ranging cycle corresponding to the Tag-i so as to complete the positioning of the Tag-i.

In a fourth aspect, an embodiment of the present invention provides a slave base station apparatus, including: the second BLE connection part, the second UWB interaction part and the second calculation part; wherein,

the second BLE connection part is configured to receive system configuration parameters and synchronize with the timing of the main base station through a BLE connection established between the second BLE connection part and the main base station; and the number of the first and second groups,

the method comprises the steps that BLE connection is established with self-bound UWB tag equipment, and information of the UWB tag equipment which establishes BLE connection with the self-bound UWB tag equipment is sent to a main base station; and the number of the first and second groups,

the second UWB interacting part is configured to transmit and/or receive corresponding UWB messages to the ith UWB Tag device (Tag-i) at the corresponding transmitting time slot and/or receiving time slot of the second UWB Tag device in the ith ranging cycle corresponding to the ith UWB Tag device based on the scheduling timing information;

the second calculation part is configured to calculate distance information of the second calculation part aiming at the Tag-i according to the UWB message interaction;

the second BLE connection portion is configured to transmit distance information of itself for the Tag-i to the master base station.

In a fifth aspect, an embodiment of the present invention provides a network node device, where the network node device includes: wireless communication circuitry, memory and a processor; the various components are coupled together by a bus system; wherein,

the wireless communication circuit includes: UWB communication means for enabling the network node device to perform UWB communication and/or for ranging communication and BLE communication means for enabling the network node device to perform BLE communication;

the memory for storing a computer program operable on the processor;

the processor is configured to, when running the computer program, execute the steps of the UWB-based multi-base-station multi-tag positioning scheduling method according to the first aspect or the second aspect.

In a sixth aspect, an embodiment of the present invention provides a UWB-based multi-base-station multi-tag positioning system, where the system includes: a master base station, one or more slave base stations and one or more UWB tag devices; the short range of the master base station covers the range of the union of the short range of all the slave base stations; wherein,

the master base station configured to perform the steps of the UWB-based multi-base station multi-tag positioning scheduling method of the first aspect;

the slave base station is configured to execute the steps of the UWB-based multi-base-station multi-tag positioning scheduling method of the second aspect.

In a seventh aspect, an embodiment of the present invention provides a computer storage medium, where the computer storage medium stores a UWB-based multi-base-station multi-tag positioning scheduler program, and the UWB-based multi-base-station multi-tag positioning scheduler program implements, when executed by at least one processor, the steps of the UWB-based multi-base-station multi-tag positioning scheduling method according to the first aspect or the second aspect.

The embodiment of the invention provides a positioning scheduling method, a device, a system and a medium for multiple base stations and multiple labels based on UWB; information acquisition of UWB label equipment in the system is completed through BLE technology, and a scheduling time sequence is generated; in the UWB ranging process, each ranging cycle corresponds to one UWB tag device to complete ranging with all base stations, all ranging information is sent to the background server in the last time slot through the main base station, and therefore one UWB tag device can be positioned in each ranging cycle, and time utilization rate and ranging efficiency are improved; and the updating speed of the positioning information of the UWB label equipment is also improved, and the requirement of the timeliness of positioning is met.

Drawings

Fig. 1 is a schematic diagram of a wireless communication system capable of implementing the technical solution of the embodiment of the present invention.

Fig. 2 is a schematic diagram of a hardware structure of a network node device according to an embodiment of the present invention.

Fig. 3 is a schematic flow chart of a positioning scheduling method for multiple base stations and multiple tags based on UWB according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a signal interaction flow of a BLE period according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of a ranging process for the ith UWB tag device according to an embodiment of the present invention.

Fig. 6 is a scheduling timing model of a ranging cycle according to an embodiment of the present invention.

Fig. 7 is a schematic flowchart of another UWB-based multi-base-station multi-tag positioning scheduling method according to an embodiment of the present invention.

Fig. 8 is a schematic diagram illustrating a main base station apparatus according to an embodiment of the present invention.

Fig. 9 is a schematic diagram illustrating a slave base station apparatus according to an embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to fig. 1, an exemplary (and simplified) ranging and location-enabled wireless communication system 100 is shown that is capable of adapting to the teachings set forth in the embodiments of the present invention. It is noted that the system shown in fig. 1 is only one example of a possible system, and embodiments of the present disclosure may be implemented in any of a variety of systems as desired.

As shown in fig. 1, the wireless communication system 100 includes: a background server 10 for data processing and calculation, a main base station 11 stationary with the background server 10 for data transmission, one or more (M are examples) slave base stations stationary and in the proximity of the main base station 11 (as shown by the solid oval circle in fig. 1), and one or more UWB Tag devices (tags) movable and in the proximity of the main base station 11; in fig. 1, taking M =2 as an example, the slave base stations may be identified as the slave base station 21 and the slave base station 22, respectively. In some non-limiting examples, UWB Tag devices (tags) are each also in close range from the base station, depending on where they are, as shown by the dashed boxes in FIG. 1, Tag32-1, Tag32-2, Tag32-3, and Tag32-4 are in close range from the base station 21; tag33-1, Tag33-2, Tag33-3, and Tag33-4 are in close range from base station 22; tag31-1 and Tag31-2 are in the proximity of the master base station 11. It will be appreciated that the proximity range of the master base station 11 as shown by the solid oval circles in figure 1 covers the range of the union of the proximity ranges of the slave base stations 12-1, 12-2, … …, 12-M as shown by all the dashed oval circles, thus, in some examples, wireless communication may be between the master base station 11 and the

slave base stations

21, 22, between the master base station 11 and Tag31-1, Tag31-2, Tag32-1, Tag32-2, Tag32-3, Tag32-4, Tag33-1, Tag33-2, Tag33-3, and Tag33-4, between each slave base station and a UWB Tag device within the respective short range using any of a variety of wireless communication techniques, may include ultra-wideband (UWB) communication technology (e.g., IEEE 802.15.4z compliant), Wi-Fi (e.g., IEEE 802.11), and/or other technologies that communicate over WPAN or WLAN wireless. In addition, the base station and the Tag device can also communicate according to an additional communication protocol, such as Bluetooth (BT) or Bluetooth Low Energy (BLE), etc., it should be noted that, taking BLE as an example, since its power consumption cannot support the coverage area of UWB communication technology, in the system 100 shown in fig. 1, the master base station 11 can perform additional communication with the

slave base stations

21 and 22 and Tag31-1 and Tag31-2 through BLE technology; the slave base station 21 is capable of additional communication with Tag32-1, Tag32-2, Tag32-3 and Tag32-4 via BLE technology; the slave base station 22 is capable of additional communication with Tag33-1, Tag33-2, Tag33-3 and Tag33-4 via BLE technology.

As an illustrative example and not by way of limitation, the UWB Tag devices (tags) 31-1, 31-2, 32-1, 32-2, 32-3, 32-4, 33-1, 33-2, 33-3, and 33-4 shown in FIG. 1 may specifically be printers, Personal Digital Assistants (PDAs), cameras, speaker systems, or wireless networks, among other non-limiting examples of UWB Tag devices (tags) 31-1, 31-2, 32-1, 32-2, 32-3, 32-4, 33-1, 33-2, 33-3, and 33-4 include mobile devices, cellular (cell) phones, smart phones, Session Initiation Protocol (SIP) phones, laptop devices, Personal Digital assistants (e.g., Personal Digital assistants), and wireless networks, Personal Computers (PCs), notebooks, netbooks, smartbooks, tablets, and a wide variety of embedded systems, for example, corresponding to the "internet of things" (IoT). Additionally, the UWB tag device may be an automobile or other transportation vehicle, a remote sensor or actuator, a robot or robotic device, a satellite radio, a Global Positioning System (GPS) device, an object tracking device, a drone, a multi-axis aircraft, a quadcopter, a remote control device, a consumer and/or wearable device (such as glasses), a wearable camera, a virtual reality device, a smart watch, a health or fitness tracker, a digital audio player (e.g., MP3 player), a camera, a game console, and so forth. Additionally, the UWB tag device may also be a digital home or intelligent home device, such as a home audio, video, and/or multimedia device, an appliance, a vending machine, an intelligent lighting device, a home security system, a smart meter, and the like. Additionally, UWB tag devices may also be smart energy devices, security devices, solar panels or arrays, municipal infrastructure devices that control power, lighting, water, etc. (e.g., smart grids); industrial automation and enterprise equipment; a logistics controller; agricultural equipment; military defense equipment, vehicles, airplanes, boats, weapons, and the like.

With respect to the wireless communication system 100 shown in fig. 1, in some examples, the master base station 11, the

slave base stations

21, 22, and the UWB Tag devices (tags) 31-1, 31-2, 32-1, 32-2, 32-3, 32-4, 33-1, 33-2, 33-3, and 33-4 may also be collectively referred to as network node devices within the wireless communication system 100. For any of these network node devices. In some examples, fig. 2 illustrates an example of a composition that can implement a network node device 200, the network node device 200 can include at least: a processor 210, a memory 220, a wireless communication circuit 230, and a power supply 240; the components may be connected by various suitable types of buses, such as a power bus, a control bus, and a status signal bus. Power supply 240 provides power to the various components within network node device 200.

In some examples, Processor 210 may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The content disclosed in connection with the embodiments of the present invention may be directly embodied as the execution of the hardware decoding processor, or may be implemented by the combination of hardware and software modules in the decoding processor. Software modules may be located in memory 220.

In some examples, the memory 220 can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (ddr Data Rate SDRAM, ddr SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 220 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

In some examples, wireless communication circuitry 230 may include communication components capable of wireless communication using multiple wireless communication standards or Radio Access Technologies (RATs), such as UWB communication component 231 and BLE communication component 232 shown in fig. 2; wherein the UWB communication component 231 is configured to enable the network node device 200 to perform UWB communication and/or for ranging communication, e.g. according to the 802.15.4 protocol. BLE communication component 232 is for enabling network node device 200 to perform BLE communications. Of course, in other examples, wireless communication circuit 230 may further include a communication component capable of performing wireless communication according to other communication protocols besides UWB and BLE, and the details of the embodiments of the present invention are not repeated.

With reference to fig. 1 and fig. 2, an embodiment of the present invention provides a positioning scheduling scheme based on multiple base stations and multiple tags of UWB, and it is expected that each UWB Tag device (Tag) can complete a Ranging process with all base stations required for positioning within one Ranging Round through scheduling. Based on this, referring to fig. 3, a flow of a positioning scheduling method of multiple base station and multiple tags based on UWB is shown, which can be applied to the master base station 11, and the method includes:

s301: scheduling time sequence information of the UWB ranging process is generated according to the UWB label equipment which is acquired through BLE connection and establishes BLE connection per se and the UWB label equipment information which is acquired from the base station and establishes BLE connection per se by combining system configuration parameters issued by the background server;

s302: based on the scheduling time sequence information, in the ith ranging cycle corresponding to the ith UWB Tag equipment (Tag-i), sending and/or receiving corresponding UWB messages to the Tag-i in the sending time slot and/or the receiving time slot corresponding to the ith UWB Tag equipment;

s303: calculating the distance information of the self aiming at the Tag-i according to the UWB message interaction;

s304: receiving ranging information for Tag-i transmitted by slave base stations each over a BLE connection;

s305: and sending the ranging information of the slave base station aiming at the Tag-i and the ranging information of each slave base station aiming at the Tag-i to a background server at the last time slot in the ith ranging cycle corresponding to the Tag-i so as to complete the positioning of the Tag-i.

Based on the scheme, the information acquisition of the UWB label equipment in the system is completed through the BLE technology, and the scheduling time sequence is generated; in the UWB ranging process, each ranging cycle corresponds to one UWB tag device to complete ranging with all base stations, all ranging information is sent to the background server in the last time slot through the main base station, and therefore one UWB tag device can be positioned in each ranging cycle, and time utilization rate and ranging efficiency are improved; and the updating speed of the positioning information of the UWB label equipment is also improved, and the timeliness requirement of positioning is met.

It should be noted that, the basic idea of the technical solution of the embodiment of the present invention is to divide the processing cycle of the whole positioning scheme into two processes, first, a BLE scheduling cycle, and second, a UWB scheduling cycle; within a BLE scheduling period, completing BLE pairing binding and parameter interaction work between a master base station and a slave base station and between the master base station and the slave base station and UWB label equipment; and finishing UWB ranging process between all base stations and a plurality of UWB label equipment according to configured explanation in a UWB scheduling period, and reporting the ranging result to a server for positioning. It can be understood that, for BLE connection, at present, one BLE device can support multiple master and multiple slave connections, and based on this characteristic, the embodiment of the present invention binds the base station and the UWB tag device, so that, in a BLE scheduling period, the fixed base station only performs pairing connection with the UWB tag device having a binding relationship therewith, which can greatly reduce scheduling complexity of BLE. In addition, after the UWB scheduling period is over, a new processing period, that is, another BLE scheduling period, is started to scan to know whether the UWB tag device is increased or decreased, and the UWB scheduling period is entered according to the increase or decrease update parameters, and the cycle is performed accordingly. For the technical solution shown in fig. 3, it may be represented as a processing cycle of a complete positioning solution, wherein the content in step S301 is in the aforementioned BLE scheduling cycle; s302 to S306 are in the UWB scheduling period, i.e., the UWB ranging process.

For the technical solution shown in fig. 3, in some possible implementation manners, in combination with the system configuration parameters issued by the backend server, the generating scheduling timing information of the UWB ranging process according to the obtained UWB tag device that establishes BLE connection through BLE connection and the information of each UWB tag device that establishes BLE connection from the base station includes:

after the system is powered on, establishing a first BLE connection link between the system and each slave base station;

transmitting system configuration parameters to said each slave base station over said first BLE connection link;

transmitting a synchronization message to each slave base station over the first BLE connection link to complete timing synchronization between the slave base station and the master station;

establishing a second BLE connection link between each UWB tag device bound with the main base station in a ranging cycle corresponding to the BLE scheduling cycle, and sending system configuration parameters to each UWB tag device bound with the main base station through the second BLE connection link;

receiving, over the first BLE connection link, each UWB tag device information transmitted from a base station that respectively establishes a second BLE connection link;

and combining the system configuration parameters, and generating scheduling time sequence of the UWB ranging process according to the UWB tag equipment which establishes the second BLE connection link with the UWB tag equipment and each UWB tag equipment which establishes the second BLE connection link from the base station.

For the above implementation, taking the system 100 shown in fig. 1 as an example, in combination with the signal interaction flow diagram of BLE cycle shown in fig. 4, specifically, when the entire system is powered on, the

slave base stations

21 and 22 are configured as slave devices slave by default for the master base station 11, and at this time, S401: periodically transmitting a BLE broadcast message from both

base stations

21, 22; for the master base station 11, since it is connected to the backend server 10, and is configured as the master by default, the master base station 11 starts scanning BLE broadcast messages, and after scanning BLE broadcast messages of the

slave base stations

21 and 22, as shown in S402 and S403, respectively, transmits BLE connection requests to the

slave base stations

21 and 22, respectively, and after receiving the feedback response messages, establishes first BLE connection links with the

slave base stations

21 and 22, respectively.

Subsequently, the backend server 10 sends the system configuration parameters to the master base station 11 through the application program running on the backend server, after receiving the system configuration parameters, as shown in S404, the master base station 11 sends the system configuration parameters to the

slave base stations

21 and 22 through the first BLE connection link, and after receiving the system configuration parameters, the

slave base stations

21 and 22 locally store and form local configuration.

Next, as shown in S405, the master base station 11 transmits a synchronization message to the

slave base stations

21 and 22 through the first BLE connection link, respectively, so that the

slave base stations

21 and 22 complete timing synchronization with the master base station 11 upon receiving the synchronization message.

It should be noted that all the above-mentioned S401 to S405 are initialization processes after the system 100 is powered on, as shown by the dashed line box, and then the initialization processes are not repeatedly executed before the system 100 is offline; after the initialization process is completed, the BLE scheduling period shown by the dashed line box is entered according to the system configuration parameters obtained by the initialization process.

For a BLE scheduling period, a scheduling time domain model structure adopted by UWB Ranging may be borrowed, in the embodiment of the present invention, the duration of the BLE scheduling period is the duration of one Ranging Block (Ranging Block), and each base station, including the master base station 11 and the

slave base stations

21 and 22, may be according to a formulaNo _round =No _anchor %MAcquiring Ranging loops (Ranging rounds) for establishing a second BLE connection link with UWB tag equipment bound with the corresponding device in Ranging blocks of a BLE scheduling period; wherein,No _anchor an identity representing a base station;No _round indicating a Ranging Round (Ranging Round) number corresponding to the base station,Mindicating the number of master base stations and slave base stations included in the system; it should be noted that, if the base station does not complete the BLE connections between all its bundled tags within a Ranging Round, the next pair in the BLE scheduling periodThe following process of scanning and establishing BLE connection is continued with its own Ranging Round until the end of the BLE scheduling period.

Continuing with the system 100 shown in fig. 1. For the main base station 11, sequentially scanning BLE broadcast messages of Tag31-1 and Tag 8931-2 bound to the main base station 11 in a Ranging Round corresponding to the main base station 11 according to a set sequence, for example, an identification serial number sequence, as shown in S406, and understandably after the system is powered on, all UWB Tag devices are also configured as a slave by default and send BLE broadcast messages at regular time; after the BLE broadcast messages of the tags 31-1 and 31-2 are scanned, the processes of sending BLE connection requests and establishing a second BLE connection link after receiving feedback response messages are sequentially and respectively completed between the tags 31-1 and 31-2; subsequently, the main base station 11 transmits synchronization information to the tags 31-1, 31-2 through the second BLE connection link, respectively, so that the tags 31-1, 31-2 complete synchronization with the main base station 11 after receiving the synchronization information; finally, the main base station 11 sends the system configuration parameters to the tags 31-1 and 31-2 through the second BLE connection link, so that the tags 31-1 and 31-2 are stored as local configuration after receiving the system configuration parameters.

For the slave base station 21, during this period, the slave base station 21 is relative to the UWB tag device, and the data master device, and the subsequent slave base station 22 are also the master device, and no longer bead. In the Ranging Round corresponding to the slave base station 21, as shown in S407, sequentially scanning BLE broadcast messages of Tag32-1, Tag32-2, Tag32-3, and Tag32-4 bound to the Ranging Round according to a set order, for example, an identification sequence number order; after the BLE broadcast messages of Tag32-1, Tag32-2, Tag32-3 and Tag32-4 are scanned, the processes of sending a BLE connection request and establishing a second BLE connection link after receiving a feedback response message are sequentially and respectively completed with Tag32-1, Tag32-2, Tag32-3 and Tag 32-4; then, the slave base station 21 transmits synchronization information to Tag32-1, Tag32-2, Tag32-3 and Tag32-4 through a second BLE connection link, respectively, so that Tag32-1, Tag32-2, Tag32-3 and Tag32-4 complete synchronization with the slave base station 21 after receiving the synchronization information; finally, the system configuration parameters are respectively sent to Tag32-1, Tag32-2, Tag32-3 and Tag32-4 from the base station 21 through the second BLE connection link, so that Tag32-1, Tag32-2, Tag32-3 and Tag32-4 are stored as local configuration after receiving the system configuration parameters. Unlike the procedure of the master base station 11 performing BLE connection with the UWB tag device as shown in S405, the slave base station 21 transmits the UWB tag device information that the second BLE connection link is established through the first BLE connection link with the master base station at the end of the BLE scheduling period.

For the slave base station 22, in the Ranging Round corresponding to the slave base station 22, as shown in S408, sequentially scanning BLE broadcast messages of Tag33-1, Tag33-2, Tag33-3, and Tag33-4 bound to the slave base station according to a set order, such as an identification sequence number order; after the BLE broadcast messages of Tag33-1, Tag33-2, Tag33-3 and Tag33-4 are scanned, the processes of sending a BLE connection request and establishing a second BLE connection link after receiving a feedback response message are sequentially and respectively completed with Tag33-1, Tag33-2, Tag33-3 and Tag 33-4; subsequently, the slave base station 22 transmits synchronization information to Tag33-1, Tag33-2, Tag33-3 and Tag33-4 through a second BLE connection link, respectively, so that Tag33-1, Tag33-2, Tag33-3 and Tag33-4 complete synchronization with the slave base station 21 after receiving the synchronization information; and finally, transmitting the system configuration parameters to Tag33-1, Tag33-2, Tag33-3 and Tag33-4 respectively from the base station 22 through a second BLE connection link, so that the Tag33-1, the Tag33-2, the Tag33-3 and the Tag33-4 are stored as local configuration after receiving the system configuration parameters. As in the BLE connection process between the slave base station 21 and the UWB tag device described in S406, the slave base station 22 transmits the information of the UWB tag device having established the second BLE connection link through the first BLE connection link with the master base station 11 at the end of the BLE scheduling period.

The master base station 11, after receiving the UWB tag device transmitted from the

base stations

21 and 22 and having established the second BLE connection link, generates the scheduling timing of the UWB ranging process in combination with the system configuration parameters together with the UWB tag device itself having established the second BLE connection link.

For the scheduling timing, in some examples, the scheduling timing model includes a plurality of ranging blocks, that is, within one UWB scheduling period or one UWB ranging process, the same number of positioning times as the number of ranging blocks will be completed for each UWB tag device. For each ranging block, the same number of ranging cycles as the number of UWB tag devices are included, that is, each ranging cycle corresponds to one UWB tag device, and in each ranging cycle, the positioning process of the corresponding UWB tag device is completed. As shown in fig. 5, the first Slot0 in the first Ranging Round of a Ranging Block is preferably scheduled for the primary base station 11 to send RCM broadcast messages; thereby enabling each slave base station and all tags to receive RCM messages and update the scheduling timing table. It is understood that, in the implementation process, the master base station 11 may also send the RCM broadcast message in the first Slot0 in each Ranging Round, so that each slave base station and all tags receive the RCM message and update the scheduling timing of the current Ranging cycle.

Next, taking a Double-sided two-Way Ranging (DS-TWR) Ranging method as an example, setting a UWB Tag device as an Initiator and a base station as a Responder, and a Ranging procedure for an i-th UWB Tag device (Tag-i) is as shown in fig. 5, in a specific implementation process, the Tag-i may be any one of tags 31-1, 31-2, 32-1, 32-2, 32-3, 32-4, 33-1, 33-2, 33-3, and 33-4 in fig. 1, and in an i-th Ranging cycle (Ranging Round, Round-i) corresponding to the Tag-i, a total of 10 slots are included, and the flag is as shown in fig. 6. With reference to fig. 5 and fig. 6, the ranging process specifically includes:

at slot1, Tag-i sends RIM message by broadcast and records the sending time stamp; the master base station 11 and the

slave base stations

21 and 22 both receive the RIM message of the Tag-i and respectively record the receiving time stamps;

at slot2, the master base station 11 sends an RRM message (RRM 1) to Tag-i, records the transmission timestamp and calculates its Treply 1; after receiving the RRM1 message, the Tag-i records the receiving time stamp of the RRM1 message and calculates the Tround1 thereof;

at slot3, RRM messages (RRM 2) are sent from the base station 21, the sending time stamps are recorded and their tresly 1 is calculated, after Tag-i receives RRM2 messages, the receiving time stamps of RRM2 messages are recorded and their round1 is calculated;

at slot4, RRM messages (RRM 3) are sent from the base station 22, recording the transmission time stamp and calculating its tresly 1; receiving RRM3 messages by Tag-i, recording receiving time stamps of RRM3 messages and calculating the Tround1 of the RRM3 messages;

at slot5, Tag-i sends FRM message by broadcasting, records the sending time stamp, and calculates Treply2 of the master base station 11 and the

slave base stations

21 and 22 respectively; the main base station 11 and the

slave base stations

21 and 22 receive the FRM message of the Tag-i, record the receiving time stamp and respectively calculate the respective Tround 2;

in slot6, Tag-i sends MRM messages, which are sequentially borne in MRM messages by the main base station 11 and the

base stations

21 and 22, such as Tround1 and Treply2, and sent in a broadcast manner, after the main base station 11 and the

base stations

21 and 22 receive the MRM messages, the message content is analyzed to obtain their own Tround1 and Treply2, and the distance values between themselves and Tag-i are respectively calculated, that is, in slot6, UWB message interaction between three base stations and Tag-i is completed, so as to obtain the distance between each base station and Tag-i;

at slot7, slave base station 21 transmits its calculated distance value to master base station 11 via a BLE connection;

at slot8, slave base station 22 sends its calculated distance value to master base station 11 over a BLE connection;

at Slot9, the main base station 11 sends the three distance values to the backend server 10, and the backend server 10 can calculate the position information of Tag-i according to the fixed positions of the three base stations and the corresponding three distance values and update the position information on the display system connected to the backend server 10.

It should be noted that, in the technical solution of the embodiment of the present invention, a scheme is illustrated by taking a situation of three base stations and 10 tags as an example, and in a specific implementation process, the scheme may be flexibly extended according to the foregoing technical solution, that is, when the number of base stations and the number of tags change, when a binding relationship is completed in a system initialization stage, a redesign is required according to the idea of the above technical solution according to the connection capability of the base station BLE, and when a BLE period and a UWB period are processed, a scheduling timing sequence is allocated according to the actual number of base stations and the number of tags.

Based on the same inventive concept of the foregoing technical solution, referring to fig. 7, it shows a flow of a positioning scheduling method for multiple base stations and multiple tags based on UWB, where the method may be applied to the

slave base station

21 or 22, and the method includes:

s701: receiving system configuration parameters and synchronizing with the timing sequence of a main base station through BLE connection established between the main base station and the system configuration parameters;

s702: the method comprises the steps that BLE connection is established with self-bound UWB tag equipment, and information of the UWB tag equipment which establishes BLE connection with the self-bound UWB tag equipment is sent to a main base station;

s703: receiving scheduling time sequence information which is sent by a main base station and used for a UWB ranging process;

s704: based on the scheduling time sequence information, in the ith ranging cycle corresponding to the ith UWB Tag equipment (Tag-i), sending and/or receiving corresponding UWB messages to the Tag-i in the sending time slot and/or the receiving time slot corresponding to the ith UWB Tag equipment;

s705: and calculating the distance information of the self aiming at the Tag-i according to the UWB message interaction, and sending the distance information of the self aiming at the Tag-i to the main base station.

For the technical aspect shown in fig. 7, in some examples, the establishing a BLE connection with the master base station includes:

sending BLE broadcast messages after a system is powered on;

receiving a BLE connection request transmitted by the master base station based on the BLE broadcast message;

establishing a first BLE connection link with the master base station for the BLE connection request.

For the technical solution shown in fig. 7, in some examples, the establishing BLE connection with the self-bound UWB tag device includes:

and establishing a second BLE connection link between each UWB tag device bound with the slave base station in a ranging cycle corresponding to the BLE scheduling cycle, and sending a synchronization message and system configuration parameters to the UWB tag device bound with the slave base station through the second BLE connection link.

For the technical solution and its example shown in fig. 7, details that are not described in detail can be referred to the description of the technical solutions shown in fig. 3 to fig. 6. The embodiments of the present invention will not be described in detail herein.

Based on the same inventive concept of the foregoing technical solution, referring to fig. 8, a main base station apparatus 80 according to an embodiment of the present invention is shown, where the main base station apparatus 80 includes: a first BLE connection section 801, a first UWB interaction section 802, a first calculation section 803, and a transmission section 804; wherein,

the first BLE connection portion 801 is configured to generate scheduling timing information of a UWB ranging process according to the acquired ultra wideband UWB tag devices that establish BLE connection by themselves and the acquired information of each ultra wideband tag device that establishes BLE connection from the base station, in combination with system configuration parameters issued by the backend server;

the first UWB interacting portion 802 is configured to transmit and/or receive a corresponding UWB message to an ith UWB Tag device Tag-i in a corresponding transmission time slot and/or reception time slot of the first UWB Tag device Tag-i in an ith ranging cycle based on the scheduling timing information;

the calculating section 803 configured to calculate distance information of itself for the Tag-i from the UWB message interaction;

the first BLE connection portion 801 further configured to receive ranging information for Tag-i transmitted by slave base stations each over a BLE connection;

the sending part 804 is configured to send the ranging information of the slave base station for the Tag-i and the ranging information of each slave base station for the Tag-i to a background server in the last time slot of the ith ranging cycle corresponding to the Tag-i, so as to complete positioning of the Tag-i.

Based on the same inventive concept of the foregoing technical solution, referring to fig. 9, a slave base station apparatus 90 according to an embodiment of the present invention is shown, where the slave base station apparatus 90 includes: a second BLE connection portion 901, a second UWB interaction portion 902, and a second calculation portion 903; wherein,

the second BLE connection portion 901 is configured to receive system configuration parameters and synchronize timing with the master base station through a BLE connection established with the master base station; and (c) a second step of,

the second UWB interacting portion 902 is configured to transmit and/or receive a corresponding UWB message to an ith UWB Tag device (Tag-i) at a corresponding transmission time slot and/or reception time slot thereof in an ith ranging cycle corresponding to the ith UWB Tag device based on the scheduling timing information;

the second calculation part 903 is configured to calculate the distance information of itself for the Tag-i according to the UWB message interaction;

the second BLE connection portion 901 is configured to transmit its own distance information for the Tag-i to the master base station.

It is understood that in this embodiment, "part" may be part of a circuit, part of a processor, part of a program or software, etc., and may also be a unit, and may also be a module or a non-modular.

In addition, each component in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit. The integrated unit can be realized in a hardware mode, and can also be realized in a software functional module mode.

Based on the understanding that the technical solution of the present embodiment essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method of the present embodiment. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Therefore, the present embodiment provides a computer storage medium, where the computer storage medium stores a positioning scheduling program based on UWB multi-base-station multi-tag, and the positioning scheduling program based on UWB multi-base-station multi-tag is executed by at least one processor to implement the steps of the positioning scheduling method based on UWB multi-base-station multi-tag in the foregoing technical solution.

It should be understood that the exemplary technical solutions of the master base station apparatus 80 and the slave base station apparatus 90 are the same as the technical solution of the positioning scheduling method based on UWB multi-base-station multi-tag, and therefore, the details of the technical solutions of the master base station apparatus 80 and the slave base station apparatus 90, which are not described in detail, can be referred to the description of the technical solution of the positioning scheduling method based on UWB multi-base-station multi-tag. The embodiments of the present invention will not be described in detail herein.

It should be noted that: the technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A positioning scheduling method of multiple base stations and multiple labels based on UWB is characterized in that the method is applied to a main base station, and the method comprises the following steps:

scheduling time sequence information of a UWB ranging process is generated according to the acquired UWB (ultra wideband) tag equipment which establishes BLE connection per se through the Bluetooth low-power-consumption BLE connection and the UWB tag equipment information which establishes BLE connection from each base station respectively by combining system configuration parameters issued by a background server; the scheduling time sequence information enables each UWB tag device to complete the Ranging process between all base stations required by positioning in a corresponding Ranging Round;

based on the scheduling time sequence information, in the ith ranging cycle corresponding to the ith UWB Tag equipment Tag-i, sending and/or receiving corresponding UWB messages to the Tag-i at the sending time slot and/or receiving time slot corresponding to the ith UWB Tag equipment Tag-i;

calculating the ranging information of the Tag-i according to the UWB message interaction;

2. The method according to claim 1, wherein the generating scheduling timing information of the UWB ranging process according to the acquired UWB tag device that establishes BLE connection by itself through BLE connection and each piece of UWB tag device information that establishes BLE connection from the base station in combination with the system configuration parameters issued by the backend server includes:

receiving UWB tag device information transmitted from each base station and respectively establishing a second BLE connection link through the first BLE connection link;

3. The method of claim 1, wherein the scheduling timing comprises a plurality of ranging blocks, and the number of ranging blocks represents the number of positioning times completed for each UWB tag device in one UWB scheduling period; each ranging block comprises ranging cycles with the same number as UWB (ultra wide band) tag devices in the system, each ranging cycle corresponds to one UWB tag device, and in each ranging cycle, the positioning process of the corresponding UWB tag device is completed.

4. A positioning scheduling method of multiple base stations and multiple labels based on UWB is characterized in that the method is applied to a slave base station, and the method comprises the following steps:

receiving scheduling time sequence information which is sent by a main base station and used for a UWB ranging process; the scheduling time sequence information enables each UWB tag device to complete the Ranging process between all base stations required by positioning in a corresponding Ranging Round;

and calculating the ranging information of the slave base station aiming at the Tag-i according to the UWB message interaction, and sending the ranging information of the slave base station aiming at the Tag-i to the master base station, so that the ranging information of the master base station and each slave base station aiming at the Tag-i is sent to a background server through the master base station in the last time slot of the ith ranging cycle corresponding to the Tag-i.

5. The method according to claim 4, wherein the establishing a BLE connection with a master base station comprises:

sending a BLE broadcast message after a system is powered on;

6. The method according to claim 4, wherein the establishing a BLE connection with the self-bound UWB tag device comprises:

and establishing a second BLE connection link between every UWB tag device bound with the slave base station in a ranging cycle corresponding to the BLE scheduling cycle, and sending a synchronization message and system configuration parameters to the UWB tag device bound with the slave base station through the second BLE connection link.

7. A main base station apparatus, characterized by comprising: a first BLE connection portion, a first UWB interaction portion, a first calculation portion, and a transmission portion; wherein,

the first BLE connection part is configured to combine system configuration parameters issued by the background server, and scheduling time sequence information of a UWB ranging process is generated according to UWB (ultra-wideband) tag equipment which is acquired through Bluetooth low-power consumption BLE connection and establishes BLE connection per se and UWB tag equipment information which establishes BLE connection from each base station; the scheduling time sequence information enables each UWB tag device to complete the Ranging process between all base stations required by positioning in a corresponding Ranging Round;

the first UWB interacting part is configured to transmit and/or receive corresponding UWB messages to the Tag-i in the ith ranging cycle corresponding to the ith UWB Tag device Tag-i in the sending time slot and/or the receiving time slot corresponding to the first UWB Tag device Tag-i based on the scheduling time sequence information;

the calculation part is configured to calculate the ranging information of the self aiming at the Tag-i according to the UWB message interaction;

the first BLE connection portion further configured to receive ranging information for Tag-i transmitted by slave base stations each over a BLE connection;

8. A slave base station apparatus, characterized in that the slave base station apparatus comprises: the second BLE connection part, the second UWB interaction part and the second calculation part; wherein,

the second UWB interacting part is configured to transmit and/or receive corresponding UWB messages to the Tag-i in the ith ranging cycle corresponding to the ith UWB Tag device Tag-i in the sending time slot and/or the receiving time slot corresponding to the second UWB Tag device Tag-i based on the scheduling time sequence information;

the second calculation part is configured to calculate the ranging information of the second calculation part aiming at the Tag-i according to the UWB message interaction;

the second BLE connection part is configured to transmit the ranging information of the main base station aiming at the Tag-i to the main base station, so that the ranging information of the main base station and each slave base station aiming at the Tag-i is transmitted to a background server through the main base station in the last time slot of the ith ranging cycle corresponding to the Tag-i.

9. A network node device, characterized in that the network node device comprises: wireless communication circuitry, memory and a processor; the various components are coupled together by a bus system; wherein,

the memory for storing a computer program operable on the processor;

the processor is configured to execute the steps of the UWB-based multi-base-station multi-tag positioning scheduling method according to any one of claims 1 to 3 or any one of claims 4 to 6 when the computer program is executed.

10. A UWB-based multi-base-station multi-tag positioning system, the system comprising: a master base station, one or more slave base stations and one or more UWB tag devices; the short range of the master base station covers the range of the union of the short range of all the slave base stations; wherein,

the master base station configured to perform the steps of the UWB-based multi-base station multi-tag positioning scheduling method of any one of claims 1 to 3;

the slave base station is configured to execute the steps of the UWB based multi-base station multi-tag positioning scheduling method of any one of claims 4 to 6.

11. A computer storage medium, characterized in that the computer storage medium stores a UWB-based multi-base station multi-tag positioning scheduler program, which when executed by at least one processor implements the steps of the UWB-based multi-base station multi-tag positioning scheduling method of any one of claims 1 to 3 or any one of claims 4 to 6.